McKibben型人工筋肉と織りゴムを併用したアクチュエータを持つアシストスーツの評価

抄録

In this study, a new actuator ‘Connected artificial muscle’ was proposed by connecting McKibben type pneumatic artificial muscle and woven rubber. Then, an assist suit with the connected artificial muscle, termed ‘Neo-sustainable’, was developed so as to enhance the practicality of our previous assist suit ‘Sustainable’. First, models of the conventional artificial muscle and the connected artificial muscle were derived. Then, the validity of the derived model was verified through measurement experiment, and it was confirmed that the connected artificial muscle is closer to the characteristics of biological muscle than the conventional artificial muscle. Second, measurement of a surface electromyogram for erector spinae muscles and sensory evaluation test were executed in the experiment of holding a heavy object with half-sitting posture. Then, ‘Neo-sustainable’ showed the equal or better effect than ‘Sustainable’. Third, lumbar load model wearing ‘Neo-sustainable’ was proposed, and lumbar burdens under use of ‘Neo-sustainable’ and use of ‘Sustainable’ were calculated respectively through the lumbar load model. Then, it was confirmed that erector spine muscular strength and lumbar disc compression force were decreased in use of ‘Neo-sustainable’ as compared with ‘Sustainable’, though lumbar disc shearing force was increased instead.